# Client-Class Installation

## Required packages and repositories (software developed by the laboratory)

1. [x_logger](https://github.com/ohara-lab-su/x_logger.git): Log management.
2. [ese774_frame](https://github.com/ohara-lab-su/ese774_frame.git): Framework for communicating with the COBOTTA control server (ESE774 implementation).
3. [cobotta2](https://github.com/ohara-lab-su/cobotta2.git): COBOTTA control server software using ORiN2.
4. [cobotta2_client](https://github.com/shimane-dev/cobotta2_client.git): Example programs for controlling COBOTTA through the server.
5. [cobotta_joypad](https://github.com/ohara-lab-su/cobotta2_joypad.git): Joypad control using high-speed gRPC communication.

## Using client programs (accessing the COBOTTA server)

The following examples use `ese774_frame` and `cobotta2` developed in the SUSANOO project. They demonstrate the BL774-style distributed-control architecture (more precisely, a client–server architecture) for COBOTTA.

Basic examples are available in [cobotta2_client](https://github.com/shimane-dev/cobotta2_client.git). They cover most of the common COBOTTA operations.

A short example follows.

## Displaying the current position (XYZ coordinates)
```python
import logging
import asyncio
from pathlib import Path

import asyncio
from cobotta2 import Config, MotionMode
from cobotta2.server import AsyncCobottaClient
from x_logger import XLogger

# Restrict httpx logging to WARNING and above (suppress INFO)
logging.getLogger("httpx").setLevel(logging.WARNING)

#@pytest.mark.asyncio
async def work():

    HERE = Path(__file__).parent
    Config.load_yaml(HERE / "config_cobotta1.yaml")
    # Config.load_yaml("config_cobotta1.yaml")

    logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
    client = AsyncCobottaClient(config=Config, logger=logger)

    try:
        # Queries such as busy_status should not require taking the arm.
        result = await client.current_position()
        logger.info(type(result))
        logger.info(result)
    except Exception as e:
        print(e)
    assert "result" == "result"
    # send_command("unknown")  # This causes an error

if __name__ == "__main__":
    asyncio.run(work())

```

## Basic motion using internal position variables


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## Author
- Kengo NAKADA